WO2020169346A1 - Procédé de commande d'un aéronef multi-rotor pour décollage et atterrissage verticaux et aéronef multi-rotor - Google Patents

Procédé de commande d'un aéronef multi-rotor pour décollage et atterrissage verticaux et aéronef multi-rotor Download PDF

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Publication number
WO2020169346A1
WO2020169346A1 PCT/EP2020/052887 EP2020052887W WO2020169346A1 WO 2020169346 A1 WO2020169346 A1 WO 2020169346A1 EP 2020052887 W EP2020052887 W EP 2020052887W WO 2020169346 A1 WO2020169346 A1 WO 2020169346A1
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WO
WIPO (PCT)
Prior art keywords
control
data
unit
rotor aircraft
flight
Prior art date
Application number
PCT/EP2020/052887
Other languages
German (de)
English (en)
Inventor
Felix Arnold
Martin TOMENENDAL
Original Assignee
BEE appliance GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BEE appliance GmbH filed Critical BEE appliance GmbH
Priority to EP20705623.5A priority Critical patent/EP3912004A1/fr
Priority to US17/431,943 priority patent/US11820525B2/en
Publication of WO2020169346A1 publication Critical patent/WO2020169346A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
    • B64D31/02—Initiating means
    • B64D31/06—Initiating means actuated automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D2045/0085—Devices for aircraft health monitoring, e.g. monitoring flutter or vibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D2221/00—Electric power distribution systems onboard aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the invention relates to a method for controlling a multi-rotor aircraft for vertical take-off and landing and a corresponding multi-rotor aircraft using the control.
  • Multi-rotor aircraft with several rotors, in particular with four or more rotors, have long been state of the art.
  • the development of these multi-rotor aircraft - manned or unmanned - has continued to advance in recent years.
  • EP 3 243 749 A1 discloses an unmanned aerial vehicle comprising a fuselage, a left and a right wing which are connected to the fuselage to generate lift in forward flight, a left thrust generating device which is carried by the left wing and a device to generate a right thrust generating device carried by the right wing.
  • the unmanned aerial vehicle further includes a vertical stabilizer, an upper thrust generating device mounted on an upper portion of the vertical stabilizer, and a lower thrust generating device mounted on a lower portion of the vertical stabilizer.
  • An on-board power source is provided to drive the thrust generating devices.
  • the left, right, upper and lower thrust generating devices ensure a forward thrust during the horizontal flight and also a vertical thrust so that the unmanned aircraft can take off and land vertically.
  • a temperature, pressure and acceleration sensors, a magnetometer, a gyroscope and a global position determination system (GPS) are used flight control system.
  • GPS global position determination system
  • the object of the invention is therefore an improved method for controlling a multi-rotor aircraft for vertical take-off and landing and to provide the corresponding multi-rotor aircraft without susceptibility of the measurement technology, in particular sensors, to faults or failures to be delivered.
  • Control units transmitted control command comprising the steps of a) determination of the sensor data th by the sensors of the flight data system and the flight control system with a sampling rate, b) transmission of the flight data system and / or the flight control system determined sensor data to the multirotor - Aircraft control unit, c) Creation of control data from the sensor data by the multi-rotor aircraft control unit, d) Transmission of the control data created by the multi-rotor aircraft control unit to the evaluation unit, e) Evaluation of the control data by the evaluation unit and provision of one Control command as a function of the evaluation result value, f) transmission of the control command to the control units of the Drive units to control the at least six rotors.
  • the redundancy shown in the multi-rotor aircraft control units and evaluation units ensures that the evaluation unit of the multi-rotor aircraft determines a control command even in the event of a failure of redundant measurement technology, in particular the sensors, and sends this to the with the control of the drive units of the rotors the drive unit connected control units transmitted.
  • the evaluation unit comprises at least one comparator means, the comparator means comparing the control data of the multi-rotor aircraft control units with one another and the evaluation unit according to step e) then a control command as a function of a comparison result value used as the evaluation result value of the evaluation unit provides as soon as this determines an exact match of the control data compared with one another in the comparator means or a match within a tolerance range based on the control data.
  • the comparator means occupy a rank in a comparator medium ranking of the multirotor aircraft and the multirotor aircraft control units occupy a rank in a multirotor aircraft control unit ranking of the multirotor aircraft, with the The highest ranking comparator means is connected to the multi-rotor aircraft control units of the same and subordinate rank and the other comparator means are connected to the multi-rotor aircraft control units of the higher, equal and subordinate rank, and the evaluation unit according to step e) then as a function from a comparison result value used as the evaluation result value of the evaluation unit Provides control command as soon as it determines an exact match of the control data compared with one another in the comparator means or a match within a tolerance range based on the control data, a comparison of the control data according to the
  • the comparator means are ranked from the highest-ranking comparator means to the lowest-ranking comparator means as soon as the comparison result value does not determine any correspondence within a tolerance range based on the control data. This always ensures that the highest ranking comparator means of the evaluation unit, which provides a match in the comparison of the control data, transmits a control command to the control unit.
  • the control command provided by the evaluation unit corresponds to the control data of the highest-ranking multi-rotor aircraft control unit, which transmits control data for a comparison in the decisive comparator means.
  • the tolerance range preferably has a local tolerance and / or a time tolerance. Due to calculation inaccuracies and rounding errors, the introduction of tolerances - in terms of location and / or time - is very advantageous.
  • the tolerance range particularly preferably has a deviation of less than or equal to 5% based on the control data transmitted to the comparator means.
  • the tolerance range very particularly preferably has a deviation of less than or equal to 5% in relation to the highest-ranking control data transmitted to the comparator means. This ensures that the control data are preferably used by the highest-ranking multirotor flight control unit and that other control data from lower-ranking multirotor flight control units are only used in the event of a failure of this.
  • the evaluation unit advantageously transmits a warning to the control command unit as soon as the evaluation result value is outside the tolerance range. Such a warning to the control command unit in a suitable form, for example by looking at a control lamp, is disclosed
  • the evaluation unit advantageously provides a control command for an emergency landing as soon as the evaluation result value of the lowest-ranking comparator is outside the tolerance range.
  • the sampling rate according to step a) has a frequency of 1 Hz to 2 kHz, in particular from 200 Hz to 1.0 kHz. Due to the high sampling rates, the multirotor flight control unit receives a great deal of sensor data, which converts it into control data for the evaluation unit so that it is available in the evaluation unit for an evaluation resulting from the control command. The higher the sampling rate in step a), the smaller the deviations between a predetermined (target value) and a flown from (actual value) flight path of the multirotor aircraft.
  • a magnetic field sensor and an inertial measuring unit comprising three acceleration sensors and three rotation rate sensors for determining roll-pitch-yaw angle changes, at least three multi-rotor aircraft control units suitable for receiving, processing and sending data, one for receiving, processing and sending evaluation unit suitable for data, and a control command unit suitable for receiving, processing and sending data
  • the multi-rotor aircraft control units are each connected to a flight control system and / or a flight data system via a data transmission system and the multi-rotor aircraft control unit is designed, in order to be able to create control data from sensor data provided by the flight control system and / or the flight data system
  • the evaluation unit connected to the multi-rotor aircraft control unit and to the control command unit is designed to enable the
  • Aircraft even if redundant measurement technology fails, in particular the sensors, a control command is determined and this for controlling the drive units of the rotors transmitted to the control units connected to the drive unit.
  • the flight data system has a sensor for measuring speed, a sensor for determining altitude, a sensor for determining temperature and / or a sensor for determining the rate of climb.
  • the evaluation unit preferably has comparator means, in particular two comparator means.
  • the comparator means of the evaluation unit is, in particular software-based, determined by comparing the control data of the control command.
  • the comparator means particularly preferably have a rank in a comparator means ranking.
  • the multirotor aircraft control units have a rank in a multirotor aircraft control unit ranking.
  • the control data of the multirotor aircraft control units are also preferably provided on a software basis.
  • Aircraft control units as computers, in particular as embedded PCs or the like. , educated.
  • the highest ranking comparator means is also advantageously connected to the multirotor aircraft control units of the same and subordinate rank and the other comparator means are each connected to the multirotor aircraft control units of the higher, equal and subordinate rank. In this way, a complete comparison can be carried out within the comparator means, all control data of a multirotor aircraft control unit being compared with that of an adjacent multirotor aircraft control unit.
  • the multi-rotor aircraft comprises two flight data systems, three flight control systems and three multi-rotor aircraft control units.
  • the aforementioned number of flight data systems, flight control systems and multi-rotor aircraft control units is optimally designed for the safe operation of the multi-rotor aircraft.
  • the ratio of redundancy of components to investment costs and / or weight of the individual components for the multirotor aircraft is very advantageous in this embodiment.
  • two multi-rotor aircraft control units are connected to a flight data system and a flight control system and a multi-rotor aircraft control unit is connected to a flight control system.
  • the comparator means are suitable for being able to compare the control data of the multi-rotor aircraft control units and to be able to provide a control command as a function of a comparison result value used as the evaluation result value of the evaluation unit.
  • the evaluation result value like a comparison result value, is a value which indicates whether the control data compared with one another match exactly or in the range of a predetermined tolerance. If they match, the evaluation result value signals the output of a control command.
  • the flight data system and / or the flight control system is preferably suitable for determining high-frequency sensor data with a sampling rate of 1 Hz to 2 kHz.
  • a sampling rate of 200 Hz to 1.0 kHz is particularly preferred. Due to the high sampling rates, a great deal of sensor data is transmitted to the multirotor flight control unit, which is then converted into control data for the
  • Evaluation unit converts so that it is in the evaluation unit are available for an evaluation resulting from the control command.
  • the position determination system is a global navigation satellite system or a global position determination system. These systems have the advantage that they are commercially available on the market.
  • the data transmission system is a field bus system, preferably a serial bus system, particularly preferably a controller area network. These data transmission systems also have the advantage of being commercially available on the market.
  • the supply unit has accumulators and / or a flow machine, in particular a small gas turbine.
  • the small gas turbine can also only serve as a range extender.
  • the multi-rotor aircraft includes at least one sensor for determining the radio altitude.
  • FIG. 1 shows a preferred basic flow diagram for controlling a multirotor aircraft for vertical take-off and landing.
  • Fig. 1 shows a preferred basic flow diagram of a Steue tion 1 for controlling a multirotor aircraft for vertika len take-off and landing.
  • the controller has different components in particular flight data systems 2, flight control systems 3, multi-rotor
  • the controller 1 has two flight data systems 2, three flight control systems 3, three multi-rotor flight control units 4, a two comparator means 5 comprehensive evaluation unit 6, six control units 7 and three control command units 8.
  • the two flight data systems 2a, 2b each include at least one temperature sensor 9 for measuring the ambient temperature and a dynamic pressure probe 10 for measuring the speed of the multi-rotor aircraft.
  • the flight data system 2 is suitable for additional sensors, such as, for example, a barometric pressure sensor for measuring the atmospheric altitude in which the multirotor aircraft is currently located or a sensor for determining the rate of climb.
  • the from the sensors of the flight data systems 2 preferably with a frequency of 1 Hz to 2 kHz, in particular a frequency of 200 Hz to
  • Measured values recorded at a sampling rate of 1.0 kHz are passed on as sensor data.
  • the three flight control systems 3a, 3b and 3c each have an inertial measuring unit 13 comprising a position determination system 11, a magnetic field sensor 12 and an inertial measuring unit 13 having three acceleration sensors and three rotation rate sensors
  • Measurement system for determining roll-pitch-yaw angle changes on The sensors of the flight control systems 3 are also preferably scanned with a frequency of 1 Hz to 2 kHz, in particular a special frequency of 200 Hz to 1.0 kHz.
  • the sampling rates of flight data system 2 and flight control system 3 are particularly preferably adapted to one another.
  • the inertial measuring unit 13 is used to record the six possible kinematic degrees of freedom. For this purpose, it has three mutually perpendicular acceleration sensors that detect a translational movement in the x-axis, y-axis and / or z-axis and three rotation rate sensors that are perpendicular to each other and that generate rotating movements around the x-axis , capture the y-axis and / or the z-axis.
  • the inertial measuring unit 13 thus supplies three linear acceleration values for the translational movement and three angular speeds for the rotation rates as measured values. From these measured values, after compensation for the acceleration due to gravity, the linear speed is determined by integration and the position in space in relation to a reference point is determined as sensor data by repeated integration.
  • the integration of the three angular velocities therefore provides the orientation in space in relation to a reference point.
  • the inertial measuring units 13 can be designed, for example, as fiber optic gyroscopes or laser gyroscopes for high demands on accuracy and stability, and micro-electro-mechanical systems for low demands on accuracy and stability.
  • the inertial measuring units 13a and 13b are designed as fiber-optic gyros and the inertial measuring unit 13c as a micro-electro-mechanical system.
  • the position determination system 11 is preferably a global navigation satellite system or a global position determination system.
  • the magnetic field sensor 12 is also used for position determination.
  • the measured values from the position determination system 11 and magnetic field sensor 12 are used to reference the measured values of the acceleration sensors to improve the position determination.
  • the flight data systems 2 and the flight control systems 3 are each Weil for receiving, processing and sending data, in particular special sensor data, suitable.
  • the data is transmitted via data transmission systems 14, for example field bus systems.
  • the multi-rotor aircraft control units 4a, 4b and 4c are also suitable for receiving, processing and sending data in order to be able to create control data based on a predetermined algorithm from sensor data provided by the flight data system 2 and / or the flight control system 3.
  • the multi-rotor aircraft control unit 4a is connected to the flight data system 2a and the flight control system 3a via a data transmission system 14a or 14b shown as an arrow connection
  • the multi-rotor aircraft control unit 4b is connected to the flight data system 2b and the flight control system 3b via a Data transmission system 14c or 14d shown by the arrow connection
  • the multi-rotor aircraft control unit 4c is connected to the flight control system 3c via a data transmission system 14e shown as an arrow connection.
  • the direction of the data transmission is indicated by the arrow direction of the arrow connections.
  • a radar altimeter 15 for determining the exact flight altitude of the multirotor aircraft according to the radar method is additionally available according to the basic flow diagram of the controller 1. This is also used to receive, process and send data, in particular that which is also referred to as sensor data Altitude measurement data, suitable and connected to the multirotor aircraft control units 4a and 4b by means of a data transmission system 14f or 14g.
  • the controller 1 comprises an evaluation unit 6 suitable for receiving, processing and sending data, in particular the control data created by the multi-rotor aircraft control units 4a, 4b and 4c.
  • the evaluation unit 6 is connected to the multi-rotor aircraft Control units 4a, 4b and 4c are connected via the data transmission systems 16a, 16b and 16c. The direction of the data transmission is indicated by the arrow direction of the arrow connections.
  • the evaluation unit 5 is configured in order to be able to evaluate the control data of the multi-rotor aircraft control units 4a, 4b and 4c and to be able to provide a control command as a function of an evaluation result value.
  • the evaluation unit 6 comprises at least one comparator means 5.
  • the evaluation unit 6 has two comparator means 5a and 5b.
  • the comparator means 5a and 5b rank in a comparator ranking of the multirotor aircraft and the multirotor aircraft control units 4a, 4b and 4c rank in a multirotor aircraft control unit ranking of the multirotor aircraft.
  • the ranking corresponds to the alphabetical numbering, with the highest ranking comparator means 5a with the multi-rotor aircraft control units 4a and 4b of the same and subordinate rank and the subordinate comparator means 5b each with the multi-rotor aircraft control units 4a, 4b and 4c of parent, sibling, and subordinate rank.
  • the evaluation unit 6 now provides a control command as a function of a comparison result value used as the evaluation result value of the evaluation unit 6 as soon as the latter determines an exact match of the control data compared with one another in the comparator means 5 or a match within a tolerance range based on the control data, with a comparison of the Control data takes place in accordance with the ranking of the comparator means 5 from the highest ranking comparator means 5a to the lowest ranking comparator means 5b.
  • the tolerance range stored in the comparator means can have a local tolerance for a deviation of the control data in its local component and / or a time tolerance for a deviation in the control data in its time component. The control data can therefore differ in terms of location and time.
  • the tolerance range preferably has a deviation - in terms of location and / or time - of less than or equal to 5% in relation to the control data transmitted to the comparator means 5.
  • the tolerance range has a deviation - locally and / or temporally - less than or equal to 5% based on the highest-ranking control data transmitted to the comparator means 5, in this case the control data from the multi-rotor aircraft control unit 4a.
  • a lower-ranking comparator 5, here the comparator 5b is only required for generating a control command as soon as the comparison result value in the higher-ranking comparator 5, here comparator 5a, does not provide a match within a tolerance range based on the control data.
  • the evaluation unit 6 transmits a warning to the control command unit 8 as soon as the evaluation result value is outside the specified tolerance range. This indicates in the control command unit 8 that the comparison cherstoff 5 comprehensive evaluation unit 6 has problems in evaluating the control data.
  • control data of the higher-ranking multi-rotor aircraft control unit 4 are output as a control command.
  • the control data in the comparator means 5a match exactly or in the tolerance range in the exemplary embodiment, then the control data of the multi-rotor aircraft control unit 4a serve as the control command.
  • comparator means 5a If in the highest ranking comparator means 5, here comparator means 5a, no comparison result value which causes the output of a control command and which is used as the evaluation result value is achieved, i.e. If there is no exact match between the control data compared in the comparator means 5 or no match between the control data compared in the comparator means 5 within a tolerance range, a second comparison is made in the lower-ranking comparator means 5, here comparator means 5b.
  • the second comparison in the lower-ranking comparator means 5, here comparator means 5b, takes place in the exemplary embodiment as a comparison of the control data of the higher-ranking or equal-ranking multi-rotor aircraft control units 4 with one another, here the multi-rotor aircraft control units 4a and 4b, and each with the controls data from the lower-ranking multirotor aircraft control unit 4c.
  • the evaluation unit 6 will in each case use the control data of the higher ranking Multirotor aircraft control unit 4 issued as a control command. If, for example, in the exemplary embodiment in the comparator means 5b the control data of the adjustment of the multi-rotor aircraft control units 4a and 4c match exactly or within the tolerance range and there is no correspondence between the sensor data of the multi-rotor aircraft control units 4a and 4b, the control data nevertheless serve as the control command the multirotor aircraft control unit 4a.
  • the evaluation unit 6 is configured to trigger and initiate an emergency descent of the multi-rotor aircraft by means of an emergency descent device 18 connected to the evaluation unit 6 via a data transmission system 17 if the control data compared in the comparator means 5 do not match .
  • the emergency descent device 18 of the multi-rotor aircraft is designed, for example, as a pyrotechnically triggered parachute system.
  • the evaluation unit 6 provides a control command for an emergency landing, preferably within a “safe” area, for example on a meadow.
  • the control command generated by means of the evaluation unit 6 is transmitted by means of a further data transmission system 19 to control units 7 suitable for receiving, processing and sending data.
  • the control units 7 use the control commands to control a drive unit 20, which in turn drives a rotor of the multi-rotor aircraft.
  • the multirotor aircraft has at least four, in particular six as in the exemplary embodiment here, such drive units 20.
  • the control units 7 are designed such that they can extract the respective control command for their assigned drive unit 20 from the transmitted control command.
  • the flight route of the multirotor aircraft is controlled by the control command unit 8, for example by a pilot located in a cockpit 8a, 8b using an input aid 21, such as a joystick or the like.
  • the control command unit 8 is suitable for receiving, processing and sending data and is connected to the evaluation unit 6, in particular to the two comparator means 5a and 5b, by means of a data transmission system 23.
  • the control command unit 8 comprises in particular input aids 21, a main flight display 24, a navigation display 25 and a warning display device 26.
  • the data transmission systems 14, 16, 17, 19 and 23 are preferably designed as field bus systems, preferably a serial bus system, particularly preferably a controller area network.
  • the different components of the controller 1 are supplied with electrical power by a likewise redundant supply unit 27.
  • the supply unit 27 is preferably designed as an accumulator and / or as a turbomachine, in particular as a small gas turbine.
  • the flow machine can also be used as a so-called range extender to extend the range by generating electricity.
  • All components can be addressed for configuration, maintenance or the like via an interface 28 assigned to the component, in particular, for example, an RS485 or an RS232 interface. Each component thus has its own
  • the method thus comprises the following steps: a) Determination of the sensor data by the sensors of the flight data system 2 and / or of the flight control system 3 with a sampling rate, the sampling rate preferably being a

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de commande d'un aéronef multi-rotor pour le décollage et l'atterrissage vertical, et un aéronef multi-rotor correspondant utilisant la commande (1).
PCT/EP2020/052887 2019-02-19 2020-02-05 Procédé de commande d'un aéronef multi-rotor pour décollage et atterrissage verticaux et aéronef multi-rotor WO2020169346A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20705623.5A EP3912004A1 (fr) 2019-02-19 2020-02-05 Procédé de commande d'un aéronef multi-rotor pour décollage et atterrissage verticaux et aéronef multi-rotor
US17/431,943 US11820525B2 (en) 2019-02-19 2020-02-05 Method for controlling a multirotor aircraft for the vertical take-off and landing as well as multirotor aircraft

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019202241.3 2019-02-19
DE102019202241.3A DE102019202241A1 (de) 2019-02-19 2019-02-19 Verfahren zur Steuerung eines Multirotor-Fluggeräts zum vertikalen Starten und Landen sowie Multirotor-Fluggerät

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WO2020169346A1 true WO2020169346A1 (fr) 2020-08-27

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US (1) US11820525B2 (fr)
EP (1) EP3912004A1 (fr)
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EP4023550A4 (fr) * 2019-08-28 2022-10-19 Denso Corporation Aéronef électrique à décollage et atterrissage verticaux et dispositif de commande d'un aéronef électrique à décollage et atterrissage verticaux
DE102021127228A1 (de) 2021-10-20 2023-04-20 Northrop Grumman Litef Gmbh Elektrisches Gerät mit indirektem Blitzschutz, Kurs-Lage-Referenz-System und Flugzeug

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US20210380267A1 (en) 2021-12-09
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